NDLI: Sit-to-Stand movement assistance using an actuated knee joint orthosis

Content Provider	IEEE Xplore Digital Library
Author	Mefoued, S. Mohammed, S. Amirat, Y. Fried, G.
Copyright Year	2012
Description	Author affiliation: LISSI Laboratory, University of Paris-Est Cre´teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France (Mefoued, S.; Mohammed, S.; Amirat, Y.; Fried, G.)
Abstract	Sitting down and standing up from a chair are pre-requisite activities for any upward moving activities such as standing, walking, climbing stairs, etc. They are performed many times in a single day by elderly and dependent people with the help of external aids. In this context, we present a prototype of wearable orthosis device designed to help and assist the movements of dependent persons for the standing activity. A person in sitting/standing position is modeled by a triple inverted pendulum with both feet fixed to the ground. Human body consists of shank, thigh and HAT (Head-Arms-Trunk) segments. Dynamic model of the human body-orthosis is presented and its parametric identification is performed using different techniques. Known for its robustness with respect to external disturbances and model uncertainties, a Second order Sliding Mode Controller (SoSMC) is used to drive the orthosis. Experimental results are performed with a healthy subject during standing up movements. Robustness of the controller in terms of external disturbances is also shown.
Starting Page	1753
Ending Page	1758
File Size	611915
Page Count	6
File Format	PDF
ISBN	9781457711992
ISSN	21551774
e-ISBN	9781457712005
DOI	10.1109/BioRob.2012.6290830
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-24
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Torque Sliding Mode Control Biological system modeling Rehabilitation robotics Trajectory Wearable orthosis Joints Hip Sliding mode control Sit-To-Stand movements
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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